CN210083379U - Wheel-track deformable moving mechanism for all-terrain mobile robot - Google Patents
Wheel-track deformable moving mechanism for all-terrain mobile robot Download PDFInfo
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- CN210083379U CN210083379U CN201920710634.4U CN201920710634U CN210083379U CN 210083379 U CN210083379 U CN 210083379U CN 201920710634 U CN201920710634 U CN 201920710634U CN 210083379 U CN210083379 U CN 210083379U
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Abstract
The utility model discloses a wheel-track deformable moving mechanism for full topography mobile robot, including triangular frame cover, frame cover center department is connected with the main shaft through the bearing, the cover has a slide cartridge on the main shaft, the slide cartridge outer wall has cup jointed the cam through the bearing, the cam has the second transmission small plate through the round pin hub connection, the first transmission small plate is connected in the meshing of second transmission small plate, the gyro wheel is connected in the meshing of first transmission small plate, still include triangular well frame and frame, the center department of frame and well frame is passed in proper order to slide cartridge one end, the one end upper portion of frame is connected with the intermediate gear through the bearing in the slide cartridge passes, the slide cartridge top is connected with the frame, the three transmission toothlet of circumference edge evenly distributed is followed to well frame upper surface, all be provided with two apical leaves on every edge of frame, the frame has fixed toothlet through the round pin hub. The tire mechanism combines the characteristics of the crawler type three-caster wheel and the advantages of the round wheel, so that the tire mechanism can change the shape and the performance of the tire on different road sections.
Description
Technical Field
The utility model belongs to the technical field of the wheel equipment that warp, concretely relates to wheel-track flexible moving mechanism for all-terrain mobile robot.
Background
The crawler-type vehicles, such as tanks, have the characteristics of small pressure intensity, large grabbing force and the like which are beneficial to cross country by virtue of the 'infinite track' design of the crawler; however, wheeled vehicles are faster on the road surface, typically at least 1/3 faster than crawlers, and are less wearing and easier to maintain. Combining the advantages of the triangular track tires with those of the normal circular tires, makes one tire simultaneously possess the excellent off-road ability of the triangular track tire and the excellent running speed and motion stability of the normal circular tire, which theoretically makes the tire suitable for 95% of the terrain, the speed is more elevated by 100%, and the design of the tire can make the road traffic easier and safer, because the track type configuration can better pull the vehicle to run in mud, sand and snow, and the wheel mode allows the vehicle to run on hard surfaces at high speed. A quick switch between the two would allow the driver and passenger to more easily handle various terrains without being blocked by obstacles or getting stuck in a soft road.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a wheel-track flexible moving mechanism for all-terrain mobile robot adopts mechanical mechanism variant, makes the tire freely alternate between circular and crawler-type triangle.
The utility model adopts the technical proposal that the wheel-track deformable moving mechanism for the all-terrain mobile robot comprises a triangular frame cover, the center of the frame cover is connected with a main shaft through a bearing, the main shaft is sleeved with a sliding cylinder, the outer wall of the sliding cylinder is sleeved with a cam through a bearing, the cam is connected with second transmission small discs through a pin shaft, the second transmission small discs are provided with three parts which are evenly distributed along the circumferential edge of the bottom of the cam, each second transmission small disc is meshed with a first transmission small disc, each first transmission small disc is meshed with a roller, each second transmission small disc, the first transmission small discs and the bottoms of the rollers are connected through a transmission big rod, the upper parts of each second transmission small disc and the first transmission small disc are connected with the rollers through three disc connecting rods, the wheel-track deformable moving mechanism also comprises a triangular middle frame and a triangular frame, one end of the sliding cylinder sequentially passes through the center of the frame and the middle frame, the upper part of one end of the sliding cylinder penetrating through the middle rack is connected with a middle gear through a bearing, the top end of the sliding cylinder is connected with the rack, three transmission small teeth are uniformly distributed on the upper surface of the middle rack along the circumferential edge, two top blades are arranged on each edge of the rack, and the two top blades on the adjacent edges are symmetrically distributed; the rack is fixed with small fixed teeth through a pin shaft.
The utility model is also characterized in that,
the second small transmission disc, the first small transmission disc and the roller are fixedly connected with the large transmission rod through pin shafts.
The roller is fixedly connected with the first transmission small disc and the second transmission small disc through the pin shaft by the three-disc connecting rod.
The small transmission teeth are connected with the middle rack, the cam and the second small transmission disc through pin shafts.
The fixed small teeth are provided with three and are evenly distributed.
The frame is connected with top leaf, midframe, three-disk connecting rod, gyro wheel through the swizzle axle, and the swizzle axle is provided with three and all is located frame edge.
The utility model has the advantages that,
the tyre mechanism combines the characteristics of the crawler type three-caster wheel and the advantages of the circular wheel, so that the tyre shape and performance can be changed on different road sections, the three-caster wheel can provide enough power under the condition of poor road conditions, the tyre mechanism is characterized by slow speed, stability and sufficient power, the circular wheel can provide enough speed for a vehicle on a stable road section, the tyre mechanism has the advantage of higher speed, and the purpose of adapting to different road sections is achieved by combining the advantages of the two wheels.
Drawings
Fig. 1 is an exploded view of a wheel-track deformable moving mechanism for an all-terrain mobile robot according to the present invention;
fig. 2 is a schematic structural diagram (a) of a wheel-track deformable moving mechanism for an all-terrain mobile robot according to the present invention;
FIG. 3 is a right side view of the wheel-track deformable moving mechanism for the all-terrain mobile robot of the present invention;
fig. 4 is a schematic structural diagram (two) of a wheel-track deformable moving mechanism for an all-terrain mobile robot of the present invention;
fig. 5 is a schematic view of the connection between the sliding cylinder and the intermediate gear in the wheel-track deformable moving mechanism for the all-terrain mobile robot of the present invention.
In the figure, 1, a roller, 2, a large transmission rod, 3, a first small transmission disk, 4, a second small transmission disk, 5, a cam, 6, a middle frame, 7, a main shaft, 8, a frame, 9, a small fixed tooth, 10, a top blade, 11, a main pin shaft, 12, a three-disk connecting rod, 13, a frame cover, 14, a small transmission tooth, 15, an intermediate gear and 16, a sliding barrel are arranged.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
The utility model relates to a wheel-track deformable moving mechanism for an all-terrain mobile robot, as shown in figures 1 and 2, the mechanism comprises a triangular frame cover 13, the center of the frame cover 13 is connected with a main shaft 7 through a bearing, a slide cylinder 16 is sleeved on the main shaft 7, the slide cylinder 16 is connected with the main shaft 7 through a bearing, the outer wall of the slide cylinder 16 is sleeved with a cam 5 through a bearing, the mechanism also comprises a turbine-worm mechanism, the turbine-worm mechanism is connected with the cam 5 through gear meshing, an arc-shaped notch is arranged on the cam 5, the cam 5 is connected with a second transmission small disc 4 through a pin shaft, the second transmission small disc 4 is provided with three parts which are evenly distributed along the circumferential edge at the bottom of the cam 5, each second transmission small disc 4 is horizontally connected with a first transmission small disc 3, each first transmission small disc 3 is horizontally connected with a roller 1, the roller 1 is positioned at three corners of the frame cover 13, each roller 1 retracts towards the center of the, the bottom of each second small transmission disc 4 and the bottom of each first small transmission disc 3 are connected with the corresponding roller 1 through a large transmission rod 2, and the second small transmission discs 4, the first small transmission discs 3, the rollers 1 and the large transmission rods 2 are fixedly connected through pin shafts; each second transmission small disc 4, the upper part of the first transmission small disc 3 and the roller 1 are connected through a three-disc connecting rod 12, and the roller 1 is fixedly connected with the first transmission small disc 3 and the second transmission small disc 4 through a pin shaft by the three-disc connecting rod 12;
as shown in fig. 3 and 4, the electric power transmission device further comprises a triangular middle frame 6 and a triangular frame 8, wherein the middle frame 6 is matched with the frame 8, a frame cover 13 is matched with the middle frame 6, one end of a sliding barrel 16 sequentially penetrates through the center of the frame 8 and the middle frame 6, the sliding barrel 16 penetrates through the upper part of one end of the middle frame 6 and is connected with an intermediate gear 15 through a bearing, as shown in fig. 5, the top end of the sliding barrel 16 is connected with the frame 8, three small transmission teeth 14 are uniformly distributed on the upper surface of the middle frame 6 along the circumferential edge, the small transmission teeth 14 can be meshed with the intermediate gear 15, the small transmission teeth 14 are connected with the middle frame 6, a cam 5 and a second small transmission disc 4 through pin shafts, the small transmission teeth 14 are fixedly connected with the second small transmission disc 4 through pin shafts to rotate at the same rotating speed, and the pin shafts;
two top blades 10 are arranged on each edge of the rack 8, the top blades 10 are connected with the rack 8 through hydraulic rods, and the two top blades 10 on the adjacent edges are symmetrically distributed; the rack 8 is fixed with three small fixed teeth 9 through a pin shaft, the three small fixed teeth 9 are uniformly distributed, the small fixed teeth 9 can be meshed with the intermediate gear 15, the rack 8 is connected with the top blade 10, the middle rack 6, the three-disc connecting rod 12 and the roller 1 through a main pin shaft 11, and the three main pin shafts 11 are all positioned at the edge of the rack 8;
the utility model relates to a triangle-shaped circular wheel track flexible wheel mechanism, its concrete theory of operation is: when the wheel is required to be changed from a circular shape to a triangular shape, the cam 5 rotates anticlockwise through torque force provided by the turbine motor, the three-disc connecting rod 12 is opened through the pin shaft, the three-disc connecting rod 12 moves to drive the roller 1, the first small transmission disc 3, the second small transmission disc 4 and the main pin shaft 11 to move towards the periphery, and finally the roller, the first small transmission disc 3, the second small transmission disc 4 and the main pin shaft 11 reach a mechanical dead point to stop, and meanwhile, as the main pin shaft 11 moves towards the periphery and the hydraulic rod retracts, the top blade 10 retracts into the rack, finally the wheel is opened into a triangular shape, the main shaft 7 provides torque force for the intermediate gear 15 through keys, the sliding barrel 16 is pulled downwards, the intermediate gear 15 is meshed with the small transmission teeth 14 to provide torque for the transmission gear 14, after the small transmission teeth 14 provide torque for the second small transmission disc 4 through the pin shaft, the second small transmission disc 4 rotates to drive the large transmission rod 2 to rotate, The roller 1 rotates, and the roller 1 rotates to drive the periodic belt to move, so that the purpose of triangular wheel movement is achieved.
When the wheel needs to be changed from the triangular shape to the circular shape, the cam 5 rotates clockwise through the torque force provided by the turbine motor, the three-disc connecting rod 12 retracts through the pin shaft, the three-disc connecting rod 12 moves to drive the roller 1, the first transmission small disc 3, the second transmission small disc 4 and the main pin shaft 11 to move inwards, finally, the roller 1 is stopped at a mechanical dead point, the roller 1 correspondingly retracts for a certain distance to reach a supporting position point required by the circular tire, meanwhile, the top leaf 10 slowly jacks one end of the top leaf through the hydraulic rod, one end of the top leaf 10 correspondingly retracts for a certain distance due to the retraction of the main pin shaft 11, finally, as shown in figure 4, the unfolding pattern of the top leaf is close to the circular shape, the sliding cylinder 16 is pulled upwards, the middle gear 15 is meshed with the fixed small teeth 9, the middle gear 15 rotates to drive the fixed small teeth 9 to do planetary motion around the middle gear 15, and the fixed small teeth 9 drive the rack 8, the frame 8 drives the top blade 10, the middle frame 6, the frame cover 13 and a series of mechanisms connected with the frame cover to rotate around the main shaft 7 through the main pin shaft 11, so that the purpose of moving when the wheels are circular is achieved.
The tyre mechanism combines the characteristics of the crawler type three-caster wheel and the advantages of the circular wheel, so that the tyre shape and performance can be changed on different road sections, the three-caster wheel can provide enough power under the condition of poor road conditions, the tyre mechanism is characterized by slow speed, stability and sufficient power, the circular wheel can provide enough speed for a vehicle on a stable road section, the tyre mechanism has the advantage of higher speed, and the purpose of adapting to different road sections is achieved by combining the advantages of the two wheels.
Claims (7)
1. The wheel-track deformable moving mechanism for the all-terrain mobile robot is characterized by comprising a triangular frame cover (13), a middle frame (6) and a frame (8), wherein the center of the frame cover (13) is connected with a main shaft (7) through a bearing, the main shaft (7) is sleeved with a sliding barrel (16), the outer wall of the sliding barrel (16) is sleeved with a cam (5) through the bearing, the mechanism further comprises a turbine-worm mechanism, the turbine-worm mechanism is meshed with the cam (5) through a gear, the cam (5) is connected with a second small transmission disc (4) through a pin shaft, the second small transmission disc (4) is provided with three parts which are uniformly distributed along the circumferential edge of the bottom of the cam (5), each second small transmission disc (4) is horizontally connected with a first small transmission disc (3), and each first small transmission disc (3) is horizontally connected with a roller (1), each roller (1) is positioned at three corners of the frame cover (13), the bottoms of each second small transmission disc (4), each first small transmission disc (3) and each roller (1) are connected through a large transmission rod (2), the upper parts of each second small transmission disc (4) and each first small transmission disc (3) are connected with the rollers (1) through three-disc connecting rods (12), one end of the sliding cylinder (16) sequentially passes through the centers of the rack (8) and the middle rack (6), the sliding cylinder (16) penetrates through the upper part of one end of the middle frame (6) and is connected with a middle gear (15) through a bearing, the top end of the sliding cylinder (16) is connected with the frame (8), three transmission small teeth (14) are uniformly distributed on the upper surface of the middle frame (6) along the circumferential edge, every edge of frame (8) all is provided with two top leaf (10), frame (8) are fixed with fixed toothlet (9) through the round pin axle.
2. The wheel-track deformable moving mechanism for the all-terrain mobile robot is characterized in that the second small transmission disc (4), the first small transmission disc (3), the roller (1) and the large transmission rod (2) are fixedly connected through a pin shaft.
3. The wheel-track deformable moving mechanism for the all-terrain mobile robot is characterized in that the roller (1) is fixedly connected with the first small transmission disc (3) and the second small transmission disc (4) through the three-disc connecting rod (12) through the pin shaft.
4. The wheel-track deformable moving mechanism for the all-terrain mobile robot is characterized in that the small transmission teeth (14) are connected with the middle frame (6), the cam (5) and the second small transmission disc (4) through pin shafts.
5. The wheel-track deformable moving mechanism for the all-terrain mobile robot is characterized in that three fixed small teeth (9) are arranged and distributed uniformly.
6. The wheel-track deformable moving mechanism for the all-terrain mobile robot is characterized in that the rack (8) is connected with the top blade (10), the middle rack (6), the three-disc connecting rod (12) and the roller (1) through main pin shafts (11), and the three main pin shafts (11) are arranged and are all located at the edge of the rack (8).
7. The wheel-track deformable moving mechanism for the all-terrain mobile robot is characterized in that each top blade (10) is connected with the frame (8) through a hydraulic rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920710634.4U CN210083379U (en) | 2019-05-17 | 2019-05-17 | Wheel-track deformable moving mechanism for all-terrain mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920710634.4U CN210083379U (en) | 2019-05-17 | 2019-05-17 | Wheel-track deformable moving mechanism for all-terrain mobile robot |
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| Publication Number | Publication Date |
|---|---|
| CN210083379U true CN210083379U (en) | 2020-02-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920710634.4U Expired - Fee Related CN210083379U (en) | 2019-05-17 | 2019-05-17 | Wheel-track deformable moving mechanism for all-terrain mobile robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111605635A (en) * | 2020-06-02 | 2020-09-01 | 吉林大学 | Wheel-track composite walking device with multi-walking mode |
-
2019
- 2019-05-17 CN CN201920710634.4U patent/CN210083379U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111605635A (en) * | 2020-06-02 | 2020-09-01 | 吉林大学 | Wheel-track composite walking device with multi-walking mode |
| CN111605635B (en) * | 2020-06-02 | 2021-06-15 | 吉林大学 | Wheel-track composite walking device with multi-walking mode |
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| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200218 Termination date: 20210517 |
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| CF01 | Termination of patent right due to non-payment of annual fee |